Toward cell-decomposition for planning quasi-static manipulation of frictionless objects /
Abstract: "A stable grasp of a frictionless rigid object occurs when the object's configuration (constrained through contact with the hand) corresponds to a relative minimum of its gravitational potential energy. We formulate the associated nonlinearly constrained optimization problem an...
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| Format: | Book |
| Language: | English |
| Published: |
College Station, Tex. :
Texas A & M University, Computer Science Dept.,
[1991]
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| Series: | Technical report (Texas A & M University. Computer Science Department) ;
91-017. |
| Subjects: |
| Summary: | Abstract: "A stable grasp of a frictionless rigid object occurs when the object's configuration (constrained through contact with the hand) corresponds to a relative minimum of its gravitational potential energy. We formulate the associated nonlinearly constrained optimization problem and specialize it for the case of quasi-static manipulation. The result is a linear program whose input and output are the instantaneous velocities of the joints and the instantaneous velocity of the object, respectively (the contact force magnitudes are also available as a byproduct of the solution). It is also shown that the solution of this linear program can be used in sufficiency tests for grasp stability and instability during the manipulation of objects in force closure grasps (i.e., grasps that can become unstable). This is particularly convenient, since during manipulation planning and simulation, the linear program must be solved anyway. In the case for which the [sic] these tests are inconclusive, the nonlinear model must be examined, but it is not guaranteed to resolve all indeterminacies. In the case of the manipulation of form closure grasps (also called enveloping grasps and force/torque closure grasps), stability is not a concern. However, because form closure may be lost during manipulation, a form closure test is provided which, unlike previous tests, provides a measure of how close a grasp is to losing form closure." |
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| Item Description: | "April 1991." |
| Physical Description: | 23 leaves : illustrations ; 28 cm. |
| Bibliography: | Includes bibliographical references. |